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EP2293430A1 - Dispositif et procédé pour la détermination de la position du rotor à vitesse réduite ou à l'arrêt - Google Patents

Dispositif et procédé pour la détermination de la position du rotor à vitesse réduite ou à l'arrêt Download PDF

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Publication number
EP2293430A1
EP2293430A1 EP20090169607 EP09169607A EP2293430A1 EP 2293430 A1 EP2293430 A1 EP 2293430A1 EP 20090169607 EP20090169607 EP 20090169607 EP 09169607 A EP09169607 A EP 09169607A EP 2293430 A1 EP2293430 A1 EP 2293430A1
Authority
EP
European Patent Office
Prior art keywords
signal
filter
current
voltage signal
rotor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP20090169607
Other languages
German (de)
English (en)
Inventor
Roberto Leidhold
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Technische Universitaet Darmstadt
Original Assignee
Technische Universitaet Darmstadt
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Technische Universitaet Darmstadt filed Critical Technische Universitaet Darmstadt
Priority to EP20090169607 priority Critical patent/EP2293430A1/fr
Priority to PCT/EP2010/063063 priority patent/WO2011026988A2/fr
Priority to US13/394,749 priority patent/US20120229119A1/en
Priority to CA2810719A priority patent/CA2810719A1/fr
Priority to EP10754713A priority patent/EP2476197A2/fr
Priority to DE112010003562T priority patent/DE112010003562A5/de
Publication of EP2293430A1 publication Critical patent/EP2293430A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high-frequency signals

Definitions

  • the present invention relates to a circuit and a method for determining the rotor position at low speed or at rotor standstill.
  • the speed or position of the motor rotor can be determined indirectly by measuring only electrical quantities (e.g., phase voltage and / or phase current).
  • electrical quantities e.g., phase voltage and / or phase current.
  • the position of the rotor can be determined by electromotive force (EMF) or by position-dependent inductance (also referred to as anisotropy or magnetic flexibility).
  • EMF electromotive force
  • position-dependent inductance also referred to as anisotropy or magnetic flexibility
  • the rotor is referred to as a rotor, regardless of whether a rotational or translational movement is performed.
  • a rotational movement eg in linear motors
  • the determined position angles are converted into correspondingly traveled distances.
  • a rotor position detection is described, which is operated with pulse width modulation.
  • a high-frequency (HF) signal is fed into the electric motor.
  • the rotor position is estimated.
  • the disadvantage here is that the RF response signal is modulated onto the normal pulses. This requires a corresponding filtering of the pulses, which results in an inaccuracy.
  • Object of the present invention is to eliminate the disadvantages of the prior art by means of an arrangement and a method for evaluating the signals obtained.
  • the filter consists of at least one capacitor. In a combination of this capacitor and a coil, the filter comprises an LC element. In a combination of the aforementioned capacitor and a resistor, the filter comprises an RC element. The filter is switched to high pass.
  • the Clarke transformation is used to determine the rotor position.
  • the voltages to the stator coils are transformed into two nonzero components ( u ⁇ and u ⁇ ) and a zero component ( u 0 ):
  • u ⁇ u ⁇ u 0 2 3 ⁇ 1 - 1 / 2 - 1 / 2 0 3 / 2 - 3 / 2 1 / 2 1 / 2 ⁇ u U u V u W
  • u U , u V and u W denote the voltages of the stator coils U, V and W.
  • a high frequency (RF) voltage signal is impressed into the zero component.
  • the filter at the star point causes the passage of the RF signal and blocks the other frequency components of the zero component.
  • the RF signal There are several ways to impress the RF signal.
  • the first possibility is via a signal generator which is connected directly or via a transformer to the filter at the neutral point.
  • the frequency range is from 1 to 100 kHz.
  • the second possibility is the use of pulse width modulation (PWM) for motors with inverter (inverter).
  • the filter at the neutral point is connected to the inverter.
  • the PWM-controlled inverter generates a zero component with a frequency equal to the switching frequency of the inverter. It is also possible to use harmonics of the switching frequency or a low-frequency RF signal fed into the PWM.
  • Magnetic features are present in most engines, albeit to a lesser extent. Due to the magnetic capabilities, a current component in the non-zero component ( i ⁇ and i ⁇ ) is impressed on the RF voltage signal, from which the rotor position can be determined.
  • i ⁇ i ⁇ i 0 2 3 ⁇ 1 - 1 / 2 - 1 / 2 0 3 / 2 - 3 / 2 1 / 2 1 / 2 1 / 2 ⁇ i U i V i W
  • i U , i V and i W are the currents of the stator coils U, V and W.
  • the measured current must first be filtered in order to eliminate other frequency components which do not correspond to the frequency of the RF signal.
  • u 0 a C cos ⁇ C ⁇ t .
  • a C the magnitude and ⁇ C is the angular frequency of the RF signal
  • i ⁇ - a C ⁇ k C ⁇ C ⁇ sin 2 ⁇ ⁇ sin ⁇ C ⁇ t .
  • k C is a constant that depends on the motor, and ⁇ is the rotor position.
  • the constant k C is up to four times higher than in conventional methods where the RF voltage signal is impressed into the non-zero component.
  • the filtered current signals i ⁇ and i ⁇ are demodulated.
  • the demodulation takes place by multiplying the current signals by the signal sin ( ⁇ C t ) and is filtered by means of the following low-pass filter.
  • the rotor position can be determined from the two demodulated signals via a phase locked loop (PLL).
  • PLL phase locked loop
  • the current is sampled synchronously with the pulse width modulation.
  • the times at which the current is sampled are 90 degrees offset from the zero crossing of the zero component. So that the position can be determined according to the invention, the current values should be sampled immediately before the zero crossing of the zero component. This is possible by shifting the sampling time or by modifying the space vector pulse width modulation.
  • the rotor position is determined as rotor angle by calculating arctan2 of the signals i ⁇ av k and i ⁇ av k , and then dividing by 2.
  • the rotor position can be determined from the two signals via a phase-locked loop (PLL).
  • the RF signal is fed continuously or the PWM outputs a signal to generate or initiate the RF signal. Accordingly, the sampling of the current values, in which a signal is output by the PWM, detects the current component or the current component is constantly detected.
  • Another alternative is to generate the RF signal by the PWM by sending the PWM pulse for zero crossing as an RF signal with a frequency in the range of 1 kHz to 100 kHz, preferably 75 kHz. After passing the RF signal through the neutral point and the filter connected to the neutral point, the current component is determined. This makes it possible to send an RF signal at each zero crossing of a phase and to determine the current share after the filter.
  • Another alternative is to send at least parts of the PWM pulse outside the zero crossing as an RF signal. This means that no waiting is necessary until the next or the next zero crossing of a phase. This makes it possible in a time-shifted sequence each to send an RF signal and to determine the current share after the filter.
  • the RF signal may be fed in addition to the PWM pulse, e.g. at the zero crossing or in the pauses between two PWM pulses.
  • the rotor position is calculated by means of trigonometric functions from the determined current component.
  • the rotor position can be determined by current signal evaluation by means of phase-locked loop (PLL).
  • PLL phase-locked loop
  • a block diagram is shown, which is used for a rotor position determination by the RF signal is impressed by means of signal generator.
  • the motor 101 is supplied by any desired motor supply 100 (eg the grid or an inverter).
  • the filter 102 Via the filter 102 , the star point of the motor is closed with a signal generator 103 , which impresses an RF signal in zero component.
  • the signal generator 103 is the ground of the motor supply based.
  • the resulting current is detected by a current transformer 104 , which simultaneously converts the Clarke transformation (see Fig. 2 ), so as to extract the non-zero component.
  • the sampler and AD converter 106 synchronized with the signal generator are used to demodulate and digitize the signals.
  • the further signal processing is digital (eg via a microcontroller or FPGA).
  • the signal 107 filtered via a low-pass filter is used to calculate the rotor angle ⁇ 109 over arctan 108 .
  • Fig. 2 a current transformer arrangement 104 is shown, which implements the Clarke transformation.
  • the Fig. 3 shows the invention, when the RF signal is impressed by means of signal generator, applied in a drive system with rotor position control.
  • An RF voltage signal 301 is fed to an amplifier 302 .
  • the RF signal passes through the capacitor (LC element) 304 and propagates in the stator coils.
  • the current components per stator coil are read out 306, filtered 307 and the rotor position is determined as an angle 309.
  • control signals for the motor 402 are generated with a pulse width modulation 400 , which are supplied to the motor 402 via an inverter 401 .
  • the star point of the motor is closed with the intermediate circuit of the inverter 401 .
  • the zero component generated by the PWM acts on the motor coils.
  • the resulting current is detected via a current transformer 404 .
  • the analog current signal is converted to digital 405.
  • the sampled current signal is transformed by phase quantities in a space vector (Clarke transform) 406 , thus extracting the non-zero component.
  • the current current values are subtracted 407 from the previous sampled current values to eliminate lower frequency components.
  • Demodulation is done by changing sign 408 every other sample period 408.
  • the average of the signal over a sample period 409 is used to calculate rotor angle ⁇ 411 over arctan 410 .
  • the circuit is represented by the filter connected to the neutral point of the motor and the DC link of the inverter.
  • the Fig. 6 shows the invention when the RF signal is impressed via the PWM controlled inverter used in a rotor position control drive system.
  • control signals are a modified space vector pulse width modulation.
  • Fig. 7 (b) the corresponding control signals of the inverter are shown.
  • Fig. 7 (c) is the generated zero component, which is used for RF signal generation represented.
  • the sampling times (701, 702 and 703) are immediately before the zero crossings of the RF signal.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)
EP20090169607 2009-09-07 2009-09-07 Dispositif et procédé pour la détermination de la position du rotor à vitesse réduite ou à l'arrêt Withdrawn EP2293430A1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP20090169607 EP2293430A1 (fr) 2009-09-07 2009-09-07 Dispositif et procédé pour la détermination de la position du rotor à vitesse réduite ou à l'arrêt
PCT/EP2010/063063 WO2011026988A2 (fr) 2009-09-07 2010-09-06 Dispositif et procédé de détermination de la position d'un rotor à faible régime ou à l'arrêt
US13/394,749 US20120229119A1 (en) 2009-09-07 2010-09-06 Device and Method for the Detection of the Rotor Position at Low Rotational Speeds or at a Standstill
CA2810719A CA2810719A1 (fr) 2009-09-07 2010-09-06 Dispositif et procede de determination de la position d'un rotor a faible regime ou a l'arret
EP10754713A EP2476197A2 (fr) 2009-09-07 2010-09-06 Dispositif et procédé de détermination de la position d'un rotor à faible régime ou à l'arrêt
DE112010003562T DE112010003562A5 (de) 2009-09-07 2010-09-06 Vorrichtung und verfahren zur rotorpositionsermittlung bei geringer drehzahl oder bei stillstand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20090169607 EP2293430A1 (fr) 2009-09-07 2009-09-07 Dispositif et procédé pour la détermination de la position du rotor à vitesse réduite ou à l'arrêt

Publications (1)

Publication Number Publication Date
EP2293430A1 true EP2293430A1 (fr) 2011-03-09

Family

ID=41306647

Family Applications (2)

Application Number Title Priority Date Filing Date
EP20090169607 Withdrawn EP2293430A1 (fr) 2009-09-07 2009-09-07 Dispositif et procédé pour la détermination de la position du rotor à vitesse réduite ou à l'arrêt
EP10754713A Withdrawn EP2476197A2 (fr) 2009-09-07 2010-09-06 Dispositif et procédé de détermination de la position d'un rotor à faible régime ou à l'arrêt

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP10754713A Withdrawn EP2476197A2 (fr) 2009-09-07 2010-09-06 Dispositif et procédé de détermination de la position d'un rotor à faible régime ou à l'arrêt

Country Status (5)

Country Link
US (1) US20120229119A1 (fr)
EP (2) EP2293430A1 (fr)
CA (1) CA2810719A1 (fr)
DE (1) DE112010003562A5 (fr)
WO (1) WO2011026988A2 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102624322A (zh) * 2012-04-01 2012-08-01 杭州洲钜电子科技有限公司 无位置传感器电机控制系统及控制方法
CN104579085A (zh) * 2014-12-23 2015-04-29 广东威灵电机制造有限公司 电机转子位置的检测方法和检测装置
EP3278446B1 (fr) * 2015-03-31 2020-08-05 EBM-Papst Mulfingen GmbH&CO. KG Procédé pour déterminer sans capteur la position du rotor de machines synchrones à commutation électronique

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2709263A1 (fr) 2012-09-12 2014-03-19 Celeroton AG Procédé et appareil pour déterminer la position dans une machine électrique
FI124592B (fi) 2013-06-20 2014-10-31 Kone Corp Menetelmä ja laitteisto hissin sähkömoottorin ohjaamiseksi
DE102014102376B4 (de) 2014-02-24 2018-05-30 Jenaer Antriebstechnik Gmbh Drehfeldmaschine und Verfahren zum Bestimmen der Winkelposition ihres Rotors
EP3337031B1 (fr) 2016-12-13 2020-06-17 ABB Schweiz AG Procédé et dispositif de détection de la présence d'un aimant permanent d'un rotor d'une machine synchrone
US11165375B2 (en) * 2019-04-23 2021-11-02 Accelerated Systems Inc. Methods and systems for controlling electric motors
DE102021113964A1 (de) * 2021-05-31 2022-12-01 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Bestimmen zumindest eines einer elektrischen Maschine zugeführten Stroms mittels eines Rückkopplungssignals, Antriebssystem sowie Kraftfahrzeug

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JPS60207489A (ja) * 1984-03-30 1985-10-19 Matsushita Electric Ind Co Ltd 無整流子電動機のロ−タ位置検出回路
EP0730341A2 (fr) * 1995-02-16 1996-09-04 Sony Corporation Appareil de commande de moteur
EP0500295B1 (fr) 1991-02-20 1997-07-02 Honeywell Inc. Positionnement d'un moteur à réluctance commutée par injection d'un signal de résonance
JP2001275388A (ja) * 2000-03-27 2001-10-05 Nec Kansai Ltd ブラシレスモータ駆動回路
US20020043953A1 (en) 1998-09-30 2002-04-18 Hitachi, Ltd. Synchronous motor control device, electric motor vehicle control device and method of controlling synchronous motor
WO2004019269A2 (fr) 2002-08-23 2004-03-04 International Rectifier Corporation Estimation de position et detection de demagnetisation d'un moteur a aimant permanent
DE10393429T5 (de) 2002-10-03 2005-09-29 Kabushiki Kaisha Yaskawa Denki, Kitakyushu Vorrichtung zum Schätzen einer Magnetpolposition eines Motors und Steuervorrichtung
US6967461B1 (en) 2004-08-31 2005-11-22 Hamilton Sundstrand Corporation North-south pole determination for carrier injection sensorless position sensing systems
US20090039810A1 (en) 2007-08-06 2009-02-12 Baumuller Nurnberg Gmbh System for seamless estimation of speed and/or position, including standstill of a permanent magnet rotor of an electric motor
US20090058336A1 (en) * 2007-08-29 2009-03-05 Renesas Technology Corp. Motor driving device
US20090146598A1 (en) * 2007-12-06 2009-06-11 Nidec Corporation Brushless motor

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6157150A (en) * 1999-01-15 2000-12-05 Semipower Systems, Inc. Brushless sensorless DC motor assembly with precisely controllable positioning
US7956561B2 (en) * 2007-05-28 2011-06-07 Denso Corporation Rotor position sensing system of brushless motor

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60207489A (ja) * 1984-03-30 1985-10-19 Matsushita Electric Ind Co Ltd 無整流子電動機のロ−タ位置検出回路
EP0500295B1 (fr) 1991-02-20 1997-07-02 Honeywell Inc. Positionnement d'un moteur à réluctance commutée par injection d'un signal de résonance
EP0730341A2 (fr) * 1995-02-16 1996-09-04 Sony Corporation Appareil de commande de moteur
US20020043953A1 (en) 1998-09-30 2002-04-18 Hitachi, Ltd. Synchronous motor control device, electric motor vehicle control device and method of controlling synchronous motor
JP2001275388A (ja) * 2000-03-27 2001-10-05 Nec Kansai Ltd ブラシレスモータ駆動回路
WO2004019269A2 (fr) 2002-08-23 2004-03-04 International Rectifier Corporation Estimation de position et detection de demagnetisation d'un moteur a aimant permanent
DE10393429T5 (de) 2002-10-03 2005-09-29 Kabushiki Kaisha Yaskawa Denki, Kitakyushu Vorrichtung zum Schätzen einer Magnetpolposition eines Motors und Steuervorrichtung
US6967461B1 (en) 2004-08-31 2005-11-22 Hamilton Sundstrand Corporation North-south pole determination for carrier injection sensorless position sensing systems
US20090039810A1 (en) 2007-08-06 2009-02-12 Baumuller Nurnberg Gmbh System for seamless estimation of speed and/or position, including standstill of a permanent magnet rotor of an electric motor
US20090058336A1 (en) * 2007-08-29 2009-03-05 Renesas Technology Corp. Motor driving device
US20090146598A1 (en) * 2007-12-06 2009-06-11 Nidec Corporation Brushless motor

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102624322A (zh) * 2012-04-01 2012-08-01 杭州洲钜电子科技有限公司 无位置传感器电机控制系统及控制方法
CN102624322B (zh) * 2012-04-01 2015-05-13 杭州洲钜电子科技有限公司 无位置传感器电机控制系统及控制方法
CN104579085A (zh) * 2014-12-23 2015-04-29 广东威灵电机制造有限公司 电机转子位置的检测方法和检测装置
CN104579085B (zh) * 2014-12-23 2017-06-09 广东威灵电机制造有限公司 电机转子位置的检测方法和检测装置
EP3278446B1 (fr) * 2015-03-31 2020-08-05 EBM-Papst Mulfingen GmbH&CO. KG Procédé pour déterminer sans capteur la position du rotor de machines synchrones à commutation électronique

Also Published As

Publication number Publication date
WO2011026988A3 (fr) 2011-05-19
WO2011026988A2 (fr) 2011-03-10
DE112010003562A5 (de) 2012-11-22
CA2810719A1 (fr) 2011-03-10
EP2476197A2 (fr) 2012-07-18
US20120229119A1 (en) 2012-09-13

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